CN201849550U

CN201849550U - Composite adsorption wall-crawling mechanism for underwater ship body

Info

Publication number: CN201849550U
Application number: CN2010205488593U
Authority: CN
Inventors: 邹秀斌; 吴国亮; 赵继亮
Original assignee: Jiujiang Precision Measuring Technology Research Institute
Current assignee: Jiujiang Precision Measuring Technology Research Institute
Priority date: 2010-09-29
Filing date: 2010-09-29
Publication date: 2011-06-01
Anticipated expiration: 2020-09-29

Abstract

The utility model provides a composite adsorption wall-crawling mechanism for an underwater ship body, consisting of an upper seal cover, a base and a wheel set, wherein the upper seal cover is connected with the wheel set through the base and comprises four drive motors and a seal cover plate on which the four drive motors are arranged; the base comprises a base plate on which a biaxial tilt sensor and four permanent magnets are arranged; and the wheel set comprises a steering bracket, a small axle, steering wheels, a steering motor, a waterproof jacket, a segmental motor, a left drive wheel and a right drive wheel, and the steering bracket is provided with the two steering wheels and connected with a motor shaft of the steering motor. The composite adsorption wall-crawling mechanism for the underwater ship body has lower requirements on the shape and the working condition of a wall surface, adopts the composite adsorption modes of magnetic adsorption and thrust adsorption, and has the characteristics of high movement speed, higher stability, simple structure, easy implementation, and the like, thus being an ideal wall-crawling mechanism.

Description

Compound absorption type underwater hull wall climbing mechanism

Technical field

The utility model relates to a kind of underwater hull wall climbing mechanism, particularly a kind of climbing mechanism with combined type underwater hull wall of permanent magnetism absorption and two kinds of suction types of thrust absorption.

Background technology

The wall climbing mechanism is the effective carrier of actuating unit, on the wall climbing mechanism, carry different actuating units can carry out such as survey, clean with water, different task such as spraying.Hull surface has under water adsorbed a large amount of marine life owing to invade in the middle of the seawater for a long time, and carrying proper implements on the wall climbing mechanism is these halobiontic effective ways of cleaning.Because ferromagnetic material during hull, therefore has bigger advantage for permanent magnetism absorption in the selection of suction type, adsorption affinity is kept in permanent magnetism absorption does not need external energy, simple in structure, be convenient to processing and making, the permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing that number of patent application 200510127370.2 is announced is exactly the suction type that adopts this permanent magnetism.When yet objects such as algae, shellfish are arranged when the rough and uneven in surface of hull or between permanent magnet and hull surface, the application force of permanent magnetism absorption will weaken, the wall climbing mechanism just might come off, topple or roll from the hull wall, thereby reduces the reliability of its absorption.

The utility model content

The purpose of this utility model is to provide a kind of underwater hull wall that can be used for to creep, and has the climbing mechanism of permanent magnetism absorption and two kinds of suction types of thrust absorption.

The purpose of this utility model is achieved in that

The utility model is made up of upper cover, base, wheels, upper cover is connected with wheels by base, upper cover comprises four drive motor and capping plate, wherein four drive motor are arranged on the capping plate, and each drive motor drives a cooresponding power-assisted blade, and four drive motor are distributed on four jiaos of capping plate; Base comprises bed plate, is provided with double-shaft tilt angle sensor and four permanent magnets at bed plate, and four permanent magnets are distributed in four jiaos of bed plate; Wheels comprise turning rack, little axle, wheel flutter, steer motor, waterproof jacket, separately-loaded motor, left side drive wheel and right side drive wheel, and wherein turning rack is provided with two wheel flutters, and turning rack links to each other with the motor shaft of steer motor; Waterproof jacket is fixed on the bed plate; The separately-loaded motor is set in the waterproof jacket, and the both sides of separately-loaded motor are provided with left side retarder and right side retarder; Be respectively equipped with left side drive wheel, right side drive wheel on left side, left side support plate, the right side support plate, and left side drive wheel, right side drive wheel link to each other with the output shaft of left side retarder with the right side retarder respectively, are provided with double-shaft tilt angle sensor and four permanent magnets on bed plate; Four drive motor are arranged on the capping plate, and each drive motor drives a power-assisted blade; Two wheel seats are set on the baseplate of turning rack; Wheel seat is provided with groove, and is provided with the bevelled reinforced rib.

Compound absorption type underwater hull wall climbing mechanism of the present utility model has following characteristics:

1, adopts permanent magnetism absorption, need not the energy that provides extra.

2, be provided with the power-assisted blade, provide extra thrust for the wall climbing mechanism, guarantee that mechanism works normally according to the signal of obliquity sensor.

3, adopt wheeled travel mechanism, moving velocity is very fast.

4, be provided with the two-wheel structure on the turning rack, make the stability of wall climbing mechanism walking improve.

5, drive walking and adopt the separately-loaded motor to drive the form of two drive wheels indirectly, compact conformation is easy to realize.

6, combined type absorption is lower for shape, the working condition requirement of wall, and practicality is stronger.

The compound absorption type underwater hull of the utility model design-calculated wall climbing mechanism, shape, working condition requirement to wall are lower, adopted magnetic to echo the combined type suction type of thrust absorption, having that moving velocity is fast, stability is higher, simple in structure, be easy to characteristics such as realization, is a kind of comparatively ideal wall climbing mechanism.

Description of drawings

For example the utility model is done description in more detail below in conjunction with accompanying drawing:

Fig. 1 is an overall setup scheme drawing of the present utility model;

Fig. 2 is the structural representation of the utility model wheels assembly;

Fig. 3 is the base assembly structural representation;

Fig. 4 is the structural representation of closure assemblies;

Fig. 5 is the structural representation of turning rack;

Fig. 6 is the simulated diagram of creeping of this mechanism

The specific embodiment

Embodiment, in conjunction with Fig. 1, compound absorption type underwater hull wall climbing mechanism of the present utility model mainly is made up of upper cover 1, base 2, wheels 3, and upper cover 1 is connected with wheels 3 by base 2.

In conjunction with Fig. 2, Fig. 3, wheels comprise turning rack 3-3, little axle 3-2, wheel flutter 3-1, steer motor 2-2, waterproof jacket 3-9, separately-loaded motor 3-7, left side drive wheel 3-4 and right side drive wheel 3-11, wherein turning rack 3-3 goes up by two little axle 3-2 and is provided with two wheel flutter 3-1, turning rack 3-3 links to each other with steer motor 2-2 motor shaft, in waterproof jacket 3-9, be provided with separately-loaded motor 3-7, be provided with left side retarder 3-6 and right side retarder 3-8 in the both sides of separately-loaded motor 3-7; Waterproof jacket 3-9 is fixed on the bed plate 2-1 by left side support plate 3-5, right side support plate 3-10; Be respectively equipped with left side drive wheel 3-4, right side drive wheel 3-11 on left side support plate 3-5, the right side support plate 3-10, and left side drive wheel 3-4, right side drive wheel 3-11 link to each other with the output shaft of right side retarder 3-8 with left side retarder 3-6 respectively.

Described base 2 comprises bed plate 2-1, is provided with double-shaft tilt angle sensor 2-3 and four permanent magnet 2-4 at bed plate 2-1, and four permanent magnets are distributed in four jiaos of bed plate 2-1.

In conjunction with Fig. 4, upper cover 1 comprises four drive motor 1-2 and capping plate 1-3, wherein four drive motor 1-2 are arranged on the capping plate 1-3, and each drive motor drives a cooresponding power-assisted blade 1-1, and four drive motor 1-2 are distributed on four jiaos of capping plate 1-3.

In conjunction with Fig. 5, the baseplate 3-3-1 of turning rack 3-3 is provided with two identical wheel seat 3-3-2, is provided with groove on wheel seat 3-3-2, and has been provided with the bevelled reinforced rib.

The action implementation process of compound absorption type underwater hull wall climbing mechanism of the present utility model is described now:

In conjunction with Fig. 2, Fig. 3: separately-loaded motor 3-7 of the present utility model drives left side drive wheel 3-4 respectively by left side retarder 3-6 and right side retarder 3-8 and right side drive wheel 3-11 realizes seesawing of this mechanism; Steer motor 2-2 rotates the rotation that drives turning rack 3-3, and then realizes the rotation of two wheel flutter 3-1, thereby realizes the transition of mechanism, and the co-operative control of separately-loaded motor 3-7 and steer motor 2-2 can realize that this mechanism upward moves in any direction.

In conjunction with Fig. 3, Fig. 4, Fig. 6: produce contactless magnetic adsorbability between four permanent magnet 2-4 of the present utility model and the hull, can keep this mechanism to be adsorbed on the hull.Fig. 6 is for this mechanism is adsorbed in the simulated diagram of hull, and it is α that the angle of rotating around X-axis is arranged here, and the angle of rotating around the y axle is β, works as α _Min＜α＜α _Max, β _Min＜β＜β _MaxThis mechanism can be adsorbed on the hull by normal magnetic force, and double-shaft tilt angle sensor 2-3 sensitivity goes out α, and the angle value of β is worked as α, and when normal angular range, coming off might not appear the β angle value in this mechanism, abnomal condition such as topple, roll.Here provide extra reasoning to realize normal work by power-assisted blade 1-1.

As α＞α _Max,This mechanism's layback, this moment, drive motor 1-2 drove cooresponding power-assisted blade 1-1 rotation, and promptly power-assisted blade 1-1-1, power-assisted blade 1-1-4 rotate, and produce thrust and stop this mechanism further to swing back.

As α＜α _Min,This mechanism leans forward, and the adsorption affinity that is arranged on two permanent magnet 2-4 of power-assisted blade 1-1-2, power-assisted blade 1-1-3 corresponding position weakens, and power-assisted blade 1-1-2, power-assisted blade 1-1-3 rotate at this moment, produce thrust, strengthen the absorption of this mechanism for hull.

As β＞β _Max,This mechanism rolls to a certain extent to the right, and power-assisted blade 1-1-3, power-assisted blade 1-1-4 rotate, and produces thrust and stops this mechanism further to be rolled to the right.

As β＜β _Min,This mechanism rolls to a certain extent to the left, and power-assisted blade 1-1-2, power-assisted blade 1-1-1 rotate, and produces thrust and stops this mechanism further to be rolled to the left.

Claims

1. a compound absorption type underwater hull wall climbing mechanism is made up of upper cover, base, wheels; Upper cover is connected with wheels by base, it is characterized in that: upper cover comprises four drive motor and capping plate, wherein four drive motor are arranged on the capping plate, and each drive motor drives a cooresponding power-assisted blade, and four drive motor are distributed on four jiaos of capping plate; Base comprises bed plate, is provided with double-shaft tilt angle sensor and four permanent magnets at bed plate, and four permanent magnets are distributed in four jiaos of bed plate; Wheels comprise turning rack, little axle, wheel flutter, steer motor, waterproof jacket, separately-loaded motor, left side drive wheel and right side drive wheel, and wherein turning rack is provided with two wheel flutters, and turning rack links to each other with the motor shaft of steer motor; Be provided with the separately-loaded motor in the waterproof jacket, the both sides of separately-loaded motor are provided with left side retarder and right side retarder; Waterproof jacket is fixed on the bed plate; Left side support plate, right side support plate are respectively equipped with left side drive wheel, right side drive wheel, and left side drive wheel, right side drive wheel link to each other with the output shaft of left side retarder with the right side retarder respectively, and two wheel seats are set on the baseplate of turning rack; Groove is set on the wheel seat, and the bevelled reinforced rib is set.